Baumer GCA5 C8 Podręcznik - Strona 10
Przeglądaj online lub pobierz pdf Podręcznik dla Przyrządy pomiarowe Baumer GCA5 C8. Baumer GCA5 C8 16 stron. Cable transducer gca5 with canopen
Drukuj stronę6 PDO Service
6.1
General
The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
6.2
PDO transmission types
The following transmission types are supported (object 180x-2):
Synchronous transmission (1-240)
Asynchronous transmission (255)
Manufacturer transmission (254)
Both PDOs support all transmission types.
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
Transmission type 1-240:
Transmission type 1:
Transmission type 2:
etc.
6.3
COB-ID
The COB-ID for both PDOs is changeable (in Object 180xh-1)
The format of the TPDO is:
TPDO
COB-ID
Len
0x180 + ID
8
where P is the actual position value in 0.1mm or other scale (depending on the resolution settings) and the suffixes 'a'
and 'b' refers to channels 'a' and 'b' respectively.
Interpretation example
Considering a resolution of 0.1mm:
P0 = 0x10, P1 = 0x27
It means P = 0x00002710 (10000 decimal) = 1000mm
The channel 'b' is represented in a similar way (but typically in a reverse order so, in the zero position, channel 'b' is
4700mm and at FS his value is 0).
Baumer_GCA5_CANopen_MA_EN_V1_02.docx
28.09.2016
adapted in the object 180xh-5
The PDO is transmitted after the n-th sync frame.
The PDO is transmitted after one sync frame.
The PDO is transmitted after two sync frames.
D0
D1
D2
P0a
P1a
P0b
D3
D4
P1b
0
10/16
D5
D6
D7
0
0
0
Baumer Electric AG
Frauenfeld, Switzerland